导航修复
This commit is contained in:
ywb
+106
-248
@@ -2,7 +2,7 @@
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Nav2 导航模块 - 通过 ROS2 Action Server 控制 AGV 导航
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使用 Nav2 的 navigate_to_pose 和 navigate_through_poses action
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通过写入临时 shell 脚本再执行，避免 bash -c 单引号转义问题
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通过 stdin pipe 发送 goal YAML，避免 bash $() 替换破坏 YAML 格式
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"""
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import time
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import math
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@@ -10,6 +10,7 @@ import logging
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import threading
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import subprocess
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import os
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import re
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from typing import List, Tuple, Optional, Dict
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from enum import Enum
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@@ -39,55 +40,12 @@ class Nav2Status(Enum):
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class Nav2Navigator:
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"""Nav2 导航器 — 通过 ros2 action /navigate_to_pose 与 Nav2 通信"""
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NAVIGATE_SCRIPT = "/tmp/nav2_send_goal.sh"
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def __init__(self):
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self.status = Nav2Status.IDLE
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self._nav_thread: Optional[threading.Thread] = None
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self._cancel_event = threading.Event()
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self._result_status = None
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self._current_pose = [0.0, 0.0, 0.0]
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self._build_script()
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def _build_script(self):
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"""生成 Nav2 action 发送脚本（通过 heredoc 避免所有 bash 转义问题）"""
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script = self.NAVIGATE_SCRIPT
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content = [
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"#!/bin/bash",
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"source /opt/ros/humble/setup.bash",
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"source /home/elephant/agv_pro_ros2/install/setup.bash",
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"",
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"TARGET_X=${1:-0}",
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"TARGET_Y=${2:-0}",
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"TARGET_YAW=${3:-0}",
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"",
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"# 计算四元数",
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"YAW_QZ=$(python3 -c \"import math; print(math.sin($TARGET_YAW / 2.0))\")",
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"YAW_QW=$(python3 -c \"import math; print(math.cos($TARGET_YAW / 2.0))\")",
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"",
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"# 通过 stdin pipe 发送 goal",
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'cat << \'GOAL\' | ros2 action send_goal /navigate_to_pose nav2_msgs/action/NavigateToPose - --feedback',
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"pose:",
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" header:",
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" stamp:",
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" sec: 0",
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" nanosec: 0",
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" frame_id: map",
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" pose:",
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" position:",
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" x: $TARGET_X",
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" y: $TARGET_Y",
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" z: 0.0",
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" orientation:",
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" x: 0.0",
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" y: 0.0",
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" z: $YAW_QZ",
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" w: $YAW_QW",
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"GOAL",
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]
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with open(script, "w") as f:
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f.write("\n".join(content) + "\n")
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os.chmod(script, 0o755)
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def _check_nav2_available(self) -> bool:
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"""检查 Nav2 action server 是否可用（带缓存 10 秒）"""
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@@ -95,7 +53,6 @@ class Nav2Navigator:
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if hasattr(self, '_nav2_check_time') and hasattr(self, '_nav2_check_result'):
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if time_mod.time() - self._nav2_check_time < 10:
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return self._nav2_check_result
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# 写入脚本文件执行，兼容 Flask subprocess 环境
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script = (
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"#!/bin/bash\n"
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"source /opt/ros/humble/setup.bash 2>/dev/null\n"
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@@ -106,24 +63,20 @@ class Nav2Navigator:
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script_file = "/tmp/nav2_check.sh"
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with open(script_file, "w") as f:
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f.write(script)
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import os
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os.chmod(script_file, 0o755)
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r = subprocess.run([script_file], capture_output=True, text=True, timeout=8)
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rc = r.returncode
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out = r.stdout
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err = r.stderr
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result = rc == 0 and ("/navigate_to_pose" in out or "navigate_to_pose" in out)
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logger.debug(f"_check_nav2_available: rc={rc}, out={out[:100]}, result={result}")
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result = r.returncode == 0 and ("/navigate_to_pose" in r.stdout or "navigate_to_pose" in r.stdout)
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logger.debug(f"_check_nav2_available: rc={r.returncode}, result={result}")
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self._nav2_check_result = result
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self._nav2_check_time = time_mod.time()
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return result
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def _get_current_pose(self) -> List[float]:
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"""从 /odom 获取当前位置 [x, y, yaw]"""
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"""从 /amcl_pose 获取当前位置 [x, y, yaw]"""
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try:
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rc, out, err = _run_ros2_bash("timeout 3 ros2 topic echo /amcl_pose --once 2>/dev/null", timeout=4)
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if rc == 0 and out:
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import re, yaml
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import yaml
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clean = re.sub(r'\x1b\[[0-9;]*[a-zA-Z]', '', out)
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yaml_str = re.sub(r'^[\d\-:. ]+\[RTPS[^\]]*\].*\n?', '', clean, flags=re.MULTILINE).strip()
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yaml_str = yaml_str.split('---')[0]
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@@ -139,35 +92,22 @@ class Nav2Navigator:
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self._current_pose = [x, y, yaw]
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return self._current_pose
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except Exception as e:
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logger.debug(f"获取 odom 失败: {e}")
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logger.debug(f"获取 amcl_pose 失败: {e}")
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return self._current_pose
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def navigate_to_pose(self, x: float, y: float, yaw: float = None,
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timeout_sec: float = 120.0,
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blocking: bool = True) -> bool:
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"""
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导航到目标坐标（Nav2 navigate_to_pose action）
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Args:
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x, y: 目标位置（世界坐标，米）
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yaw: 目标朝向（弧度），None 则保持当前朝向
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timeout_sec: 超时时间（秒）
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blocking: 是否阻塞等待导航完成
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Returns:
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blocking=True: 是否成功到达
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blocking=False: 是否成功启动导航
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"""
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"""导航到目标坐标"""
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if self.status == Nav2Status.NAVIGATING:
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logger.warning("导航正在进行中，请先停止当前导航")
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return False
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# 重置状态，允许发起新导航
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self.status = Nav2Status.IDLE
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self._result_status = None
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if not self._check_nav2_available():
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logger.error("Nav2 action server 不可用，请确保 navigation2_active.launch.py 已启动")
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logger.error("Nav2 action server 不可用")
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return False
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if yaw is None:
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@@ -176,12 +116,10 @@ class Nav2Navigator:
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logger.info(f"发送导航目标: ({x:.3f}, {y:.3f}), yaw={math.degrees(yaw):.1f}°")
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# 启动导航线程
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self._cancel_event.clear()
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self._result_status = None
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self.status = Nav2Status.NAVIGATING
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# 停掉旧线程（防止重复调用导致多线程冲突）
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if self._nav_thread and self._nav_thread.is_alive():
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self.stop()
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self._nav_thread.join(timeout=3)
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@@ -199,24 +137,32 @@ class Nav2Navigator:
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return True
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def _parse_result_status(self, combined: str) -> Optional[str]:
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"""从 ros2 action send_goal 输出中解析导航结果状态"""
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result_idx = combined.find("Result:")
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if result_idx < 0:
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return None
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# 匹配 "status: STATUS_SUCCEEDED" 或 "status: SUCCEEDED" 等格式
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status_m = re.search(r'status\s*:\s*(\w+)', combined[result_idx:])
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if status_m:
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st = status_m.group(1).upper()
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if 'SUCCEEDED' in st:
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return "succeeded"
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elif 'FAILED' in st or 'ABORTED' in st:
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return "failed"
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elif 'CANCELED' in st or 'CANCELLED' in st:
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return "cancelled"
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logger.warning(f"未知的导航状态: {st}")
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return None
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def _nav_thread_func(self, x: float, y: float, yaw: float, timeout_sec: float):
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"""导航执行线程 — 使用 heredoc 脚本避免 bash 转义问题"""
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"""导航执行线程 — 使用 stdin pipe 发送 goal YAML"""
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try:
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logger.info(f"Nav2 线程启动: x={x}, y={y}, yaw={yaw}, timeout={timeout_sec}s")
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start_time = time.time()
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elapsed = 0.0
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check_interval = 1.0
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result_received = False
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# 使用 pipe 方式运行导航
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# 通过 subprocess.Popen + stdin heredoc 避免所有引号转义问题
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setup = "source /opt/ros/humble/setup.bash && source /home/elephant/agv_pro_ros2/install/setup.bash && export ROS_DOMAIN_ID=1"
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qz = math.sin(yaw / 2.0)
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qw = math.cos(yaw / 2.0)
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# 构建 goal YAML（用 bash heredoc 方式避免转义问题）
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# 写入临时文件
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import tempfile
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goal_yaml = (
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f"pose:\n"
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f" header:\n"
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@@ -234,23 +180,27 @@ class Nav2Navigator:
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f" y: 0.0\n"
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f" z: {qz}\n"
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f" w: {qw}\n"
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f"behavior_tree: ''\n"
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)
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goal_file = "/tmp/nav2_goal_{}.yaml".format(os.getpid())
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# 写入临时文件，用 $(cat file) 方式传递（stdin pipe "-" 在 Humble 有 bug）
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import tempfile
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goal_file = "/tmp/nav2_goal_{}_{}.yaml".format(os.getpid(), int(time.time()))
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with open(goal_file, "w") as f:
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f.write(goal_yaml)
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cmd = (
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f'bash -l -c \''
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f'source /opt/ros/humble/setup.bash && '
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f'source /home/elephant/agv_pro_ros2/install/setup.bash && '
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f'ros2 action send_goal /navigate_to_pose nav2_msgs/action/NavigateToPose '
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f'"$(cat {goal_file})" --feedback\''
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)
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# 写一个临时脚本执行导航（避免引号嵌套地狱）
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script_file = "/tmp/nav2_navigate_{}_{}.sh".format(os.getpid(), int(time.time()))
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with open(script_file, "w") as f:
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f.write('#!/bin/bash\n')
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f.write('source /opt/ros/humble/setup.bash\n')
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f.write('source /home/elephant/agv_pro_ros2/install/setup.bash\n')
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f.write('export ROS_DOMAIN_ID=1\n')
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f.write('ros2 action send_goal /navigate_to_pose nav2_msgs/action/NavigateToPose "$(cat {})" --feedback\n'.format(goal_file))
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os.chmod(script_file, 0o755)
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process = subprocess.Popen(
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cmd, shell=True, stdin=subprocess.PIPE, stdout=subprocess.PIPE, stderr=subprocess.PIPE, text=True
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proc = subprocess.Popen(
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['bash', '-l', script_file],
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stdout=subprocess.PIPE, stderr=subprocess.PIPE, text=True
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)
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stdout_lines = []
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@@ -263,155 +213,72 @@ class Nav2Navigator:
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break
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lines.append(line)
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# 写入 goal（通过 bash heredoc）
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# 写入 goal（通过 bash 脚本方式）
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script_content = (
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f'#!/bin/bash\n'
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f'source /opt/ros/humble/setup.bash\n'
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f'source /home/elephant/agv_pro_ros2/install/setup.bash\n'
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f'GOAL=$(cat {goal_file})\n'
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f'ros2 action send_goal /navigate_to_pose nav2_msgs/action/NavigateToPose "$GOAL" --feedback\n'
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)
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script_file = "/tmp/nav2_action.sh"
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with open(script_file, "w") as sf:
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sf.write(script_content)
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os.chmod(script_file, 0o755)
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t_out = threading.Thread(target=reader, args=(proc.stdout, stdout_lines))
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t_err = threading.Thread(target=reader, args=(proc.stderr, stderr_lines))
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t_out.start()
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t_err.start()
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out_thread = threading.Thread(target=reader, args=(process.stdout, stdout_lines))
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err_thread = threading.Thread(target=reader, args=(process.stderr, stderr_lines))
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out_thread.start()
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err_thread.start()
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# 用 subprocess.Popen([script_path]) 替代 stdin
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stop_reading.set()
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if process.poll() is None:
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process.terminate()
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process.wait(timeout=3)
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act_proc = subprocess.Popen(
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[script_file],
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stdin=subprocess.PIPE, stdout=subprocess.PIPE, stderr=subprocess.PIPE, text=True
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)
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stdout_lines2 = []
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stderr_lines2 = []
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stop_reading2 = threading.Event()
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def reader2(pipe, lines):
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for line in iter(pipe.readline, ''):
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if stop_reading2.is_set():
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break
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lines.append(line)
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t_out2 = threading.Thread(target=reader2, args=(act_proc.stdout, stdout_lines2))
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t_err2 = threading.Thread(target=reader2, args=(act_proc.stderr, stderr_lines2))
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t_out2.start()
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t_err2.start()
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# 轮询等待 action 完成（每 2s 检查一次结果）
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# 轮询等待 action 完成
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result_received = False
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for _ in range(60): # 最多等 120 秒
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max_checks = int(timeout_sec / 2)
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for _ in range(max_checks):
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time.sleep(2)
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elapsed = time.time() - start_time
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# 检查是否有结果
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full_out = "".join(stdout_lines2)
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full_err = "".join(stderr_lines2)
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combined = full_out + full_err
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result_idx = combined.find("Result:")
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if result_idx >= 0:
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import re
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status_m = re.search(r'status[\s:]+(\w+)', combined[result_idx:])
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if status_m:
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st = status_m.group(1).lower()
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if st in ('succeeded', 'SUCCEEDED'):
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logger.info("✅ Nav2 导航成功到达目标")
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self._result_status = "succeeded"
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result_received = True
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break
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elif st in ('failed', 'FAILED', 'aborted'):
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logger.warning(f"⚠️ Nav2 导航失败: status={st}")
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self._result_status = "failed"
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result_received = True
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break
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elif st in ('canceled', 'cancelled'):
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logger.info("Nav2 导航被取消")
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self._result_status = "cancelled"
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result_received = True
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break
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# 检查进程是否已结束但无结果
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if act_proc.poll() is not None and not result_received:
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self._result_status = "failed"
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break
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if self._cancel_event.is_set():
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break
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stop_reading2.set()
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if act_proc.poll() is None:
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act_proc.terminate()
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try:
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act_proc.wait(timeout=3)
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except subprocess.TimeoutExpired:
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act_proc.kill()
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t_out2.join(timeout=2)
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t_err2.join(timeout=2)
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stdout_lines = stdout_lines2
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stderr_lines = stderr_lines2
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# 轮询检查结果
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while not self._cancel_event.is_set() and elapsed < timeout_sec:
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time.sleep(check_interval)
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elapsed = time.time() - start_time
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full_out = "".join(stdout_lines)
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full_err = "".join(stderr_lines)
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combined = full_out + full_err
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# 查找 Result 节中的 status 字段
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import re
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result_idx = combined.find("Result:")
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if result_idx >= 0:
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status_m = re.search(r'status[\s:]+(\w+)', combined[result_idx:])
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if status_m:
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st = status_m.group(1).lower()
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if st in ('succeeded', 'SUCCEEDED'):
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logger.info("✅ Nav2 导航成功到达目标")
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self._result_status = "succeeded"
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result_received = True
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break
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elif st in ('failed', 'FAILED', 'aborted'):
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logger.warning(f"⚠️ Nav2 导航失败: status={st}")
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self._result_status = "failed"
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result_received = True
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break
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elif st in ('canceled', 'cancelled'):
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logger.info("Nav2 导航被取消")
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self._result_status = "cancelled"
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result_received = True
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break
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if not result_received:
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# 检查是否有 YAML 解析错误
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if "Traceback" in combined and "Goal accepted" not in combined:
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logger.error(f"ros2 action send_goal YAML 解析失败: {combined[:500]}")
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self._result_status = "failed"
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result_received = True
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break
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# 善后
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# 检查是否未被接受
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if "Goal accepted" not in combined and elapsed > 15:
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logger.warning(f"导航目标 15 秒内未被接受，输出: {combined[:300]}")
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# 解析 Result
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parsed = self._parse_result_status(combined)
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if parsed:
|
||||
self._result_status = parsed
|
||||
result_received = True
|
||||
if parsed == "succeeded":
|
||||
logger.info(f"✅ Nav2 导航成功到达目标 ({x:.3f}, {y:.3f})")
|
||||
elif parsed == "failed":
|
||||
logger.warning(f"⚠️ Nav2 导航失败")
|
||||
else:
|
||||
logger.info("Nav2 导航被取消")
|
||||
break
|
||||
|
||||
# 进程已结束但无 Result
|
||||
if proc.poll() is not None and not result_received:
|
||||
logger.error(f"导航进程提前退出，rc={proc.returncode}，输出: {combined[:300]}")
|
||||
self._result_status = "failed"
|
||||
result_received = True
|
||||
break
|
||||
|
||||
if self._cancel_event.is_set():
|
||||
break
|
||||
|
||||
# 清理
|
||||
stop_reading.set()
|
||||
if act_proc.poll() is None:
|
||||
act_proc.terminate()
|
||||
if proc.poll() is None:
|
||||
proc.terminate()
|
||||
try:
|
||||
act_proc.wait(timeout=3)
|
||||
proc.wait(timeout=3)
|
||||
except subprocess.TimeoutExpired:
|
||||
act_proc.kill()
|
||||
|
||||
out_thread.join(timeout=2)
|
||||
err_thread.join(timeout=2)
|
||||
proc.kill()
|
||||
t_out.join(timeout=2)
|
||||
t_err.join(timeout=2)
|
||||
|
||||
# 处理取消
|
||||
if self._cancel_event.is_set() and not result_received:
|
||||
logger.info("取消 Nav2 导航...")
|
||||
cancel_cmd = f'bash -l -c \'{setup} && ros2 action cancel /navigate_to_pose 2>/dev/null || ros2 action cancel /navigate_through_poses 2>/dev/null || true\''
|
||||
setup = "source /opt/ros/humble/setup.bash && source /home/elephant/agv_pro_ros2/install/setup.bash && export ROS_DOMAIN_ID=1"
|
||||
cancel_cmd = f'bash -l -c \'{setup} && ros2 action cancel /navigate_to_pose 2>/dev/null || true\''
|
||||
subprocess.run(cancel_cmd, shell=True, timeout=3)
|
||||
self._result_status = "cancelled"
|
||||
|
||||
@@ -429,7 +296,7 @@ class Nav2Navigator:
|
||||
def navigate_through_poses(self, poses: List[Tuple[float, float, float]],
|
||||
timeout_per_pose: float = 120.0,
|
||||
blocking: bool = True) -> bool:
|
||||
"""导航通过多个路径点（Nav2 navigate_through_poses action）"""
|
||||
"""导航通过多个路径点"""
|
||||
if self.status == Nav2Status.NAVIGATING:
|
||||
logger.warning("导航正在进行中，请先停止")
|
||||
return False
|
||||
@@ -461,7 +328,6 @@ class Nav2Navigator:
|
||||
try:
|
||||
setup = "source /opt/ros/humble/setup.bash && source /home/elephant/agv_pro_ros2/install/setup.bash && export ROS_DOMAIN_ID=1"
|
||||
|
||||
# 构建 poses heredoc
|
||||
poses_lines = []
|
||||
for i, (x, y, yaw) in enumerate(poses):
|
||||
qz = math.sin(yaw / 2.0)
|
||||
@@ -493,6 +359,7 @@ class Nav2Navigator:
|
||||
)
|
||||
|
||||
stdout_lines = []
|
||||
stderr_lines = []
|
||||
stop_reading = threading.Event()
|
||||
|
||||
def reader(pipe, lines):
|
||||
@@ -502,14 +369,16 @@ class Nav2Navigator:
|
||||
lines.append(line)
|
||||
|
||||
out_thread = threading.Thread(target=reader, args=(process.stdout, stdout_lines))
|
||||
err_thread = threading.Thread(target=reader, args=(process.stderr, stderr_lines))
|
||||
out_thread.start()
|
||||
err_thread.start()
|
||||
|
||||
try:
|
||||
process.stdin.write(poses_yaml + "\n")
|
||||
process.stdin.flush()
|
||||
process.stdin.close()
|
||||
except Exception as e:
|
||||
logger.error(f"写入 poses heredoc 失败: {e}")
|
||||
logger.error(f"写入 poses YAML 失败: {e}")
|
||||
self.status = Nav2Status.FAILED
|
||||
return
|
||||
|
||||
@@ -520,29 +389,17 @@ class Nav2Navigator:
|
||||
full_err = "".join(stderr_lines)
|
||||
combined = full_out + full_err
|
||||
|
||||
result_idx = combined.find("Result:")
|
||||
if result_idx >= 0:
|
||||
import re
|
||||
status_m = re.search(r'status[\s:]+(\w+)', combined[result_idx:])
|
||||
if status_m:
|
||||
st = status_m.group(1).lower()
|
||||
if st in ('succeeded', 'SUCCEEDED'):
|
||||
logger.info(f"✅ Nav2 路径点导航成功完成 {len(poses)} 个点")
|
||||
self._result_status = "succeeded"
|
||||
result_received = True
|
||||
break
|
||||
elif st in ('failed', 'FAILED', 'aborted'):
|
||||
logger.warning(f"⚠️ Nav2 路径点导航失败")
|
||||
self._result_status = "failed"
|
||||
result_received = True
|
||||
break
|
||||
elif st in ('canceled', 'cancelled'):
|
||||
self._result_status = "cancelled"
|
||||
result_received = True
|
||||
break
|
||||
parsed = self._parse_result_status(combined)
|
||||
if parsed:
|
||||
self._result_status = parsed
|
||||
result_received = True
|
||||
if parsed == "succeeded":
|
||||
logger.info(f"✅ Nav2 路径点导航成功完成 {len(poses)} 个点")
|
||||
break
|
||||
|
||||
if process.poll() is not None and not result_received:
|
||||
self._result_status = "failed"
|
||||
result_received = True
|
||||
break
|
||||
|
||||
stop_reading.set()
|
||||
@@ -550,6 +407,7 @@ class Nav2Navigator:
|
||||
process.terminate()
|
||||
process.wait(timeout=3)
|
||||
out_thread.join(timeout=2)
|
||||
err_thread.join(timeout=2)
|
||||
|
||||
if self._result_status == "succeeded":
|
||||
self.status = Nav2Status.SUCCEEDED
|
||||
@@ -583,4 +441,4 @@ class Nav2Navigator:
|
||||
|
||||
def get_current_position(self) -> List[float]:
|
||||
"""获取当前位置 [x, y, yaw]"""
|
||||
return self._get_current_pose()
|
||||
return self._get_current_pose()
|
||||
|
||||
Reference in New Issue
Block a user